During the exhibition, there will also be a short animated film inspired by the letters Bess wrote and received over the years, which aims to offer more insight into her life.
The gown was recently returned to Hardwick after undergoing conservation work at the National Trust Conservation Studio on the Blickling Estate in Norfolk.
Williams said: “[The gown] survived thanks to Evelyn, the last Duchess to live at Hardwick, who recognised its significance and took steps to store it away and preserve it.
“Without her intervention, this piece of history may have been lost forever.
“The gown connects us directly to Bess of Hardwick’s world and invites us to consider the real Bess.
“She is often portrayed as a formidable and ambitious woman, but this exhibition reveals far more about the real Bess. It highlights her role as a mother who placed great importance on her family in her life.”